JP7138014B2 - Support position adjustment amount estimation method for support device, support position adjustment method for support device, and support position adjustment amount estimation device for support device - Google Patents

Description

The present invention is a method of estimating the amount of adjustment of the support position of each support device, which is necessary to level a preset reference plane of the machine tool in a machine tool supported by three or more support devices. and a device and a method for adjusting the support position in each support device.

The machine tool is usually machined so that a reference plane set on the bed is horizontal while the bed, which is the basic structure of the machine tool, is supported by three or more support devices. The bed is supported by the apparatus and other structures are assembled with its reference plane horizontal. Therefore, the machine tool achieves the desired machining accuracy only when it is installed so that the reference plane is horizontal. Incidentally, conventionally, a spirit level is generally used to detect the horizontal level.

From the above background, when installing a machine tool in a factory or the like, conventionally, the bed is similarly supported by three or more support devices, and the height direction of the support devices is adjusted so that the reference plane is horizontal. The support position of is adjusted.

In addition, the horizontal level of the reference plane is not maintained constant in the future after installation of the machine tool, but fluctuates due to aging of the machine tool, its operating conditions, and the like. Therefore, if the horizontal level of the reference plane exceeds a predetermined allowable range after the machine tool is installed, it is necessary to readjust the support position of the support device so that the horizontal level is within the allowable range. be.

However, the horizontal level of the reference plane varies by slightly varying the support position of each support device, and when the support load on one support device varies, the support load on each support device becomes unbalanced. becomes. Therefore, in order to keep the horizontal level within the allowable range by adjusting the support position of each support device while balancing the support load on each support device, it is necessary to check the level gauge and check the support position of each support device. The position had to be adjusted by trial and error, and the adjustment work was extremely complicated. In addition, since this adjustment work is very subjective, there is also the aspect that appropriate empirical skill is required to perform this work accurately and efficiently.

Therefore, conventionally, an automatic leveling device for a machine tool has been proposed, which is disclosed in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 4-336927).

This automatic leveling device comprises leveling detection means for detecting the level of a machine bed of a machine tool, control means, and a leveling block. A leveling block consists of a vertical slider, a horizontal slider and a hydraulic cylinder and is arranged under the machine bed. The leveling detection means is composed of a plurality of water containers and a laser displacement gauge, which are interconnected by water pipes in accordance with the position of the leveling block. It is configured to detect as a change and input the detected signal to a computer. The control means comprises a solenoid valve for controlling the hydraulic cylinder, a sequencer, and a computer. The sequencer receives signals from the computer and signals from the plurality of proximity switches and outputs them to the solenoid valve. be.

According to this automatic leveling device, changes in the level of the machine bed are detected as changes in the distance between the water surface in the water container and the laser displacement gauge. It is determined whether or not correction is necessary, and if the level change is not within a predetermined range and level correction is necessary, each hydraulic cylinder drives the respective leveling block under the control of the control means, thereby Leveling is done automatically.

JP-A-4-336927

By the way, in order to stably support the bed, it is common sense that the bed should be supported by at least three support devices. One or more support devices are used to support the bed.

Since the bed is not a completely rigid body, and the support device itself is not a completely rigid body, the support state of each support device is not independent of each other, but is interlocked with each other. When the support position of the support device is changed, the support state, ie the support load and the support position, of all the other support devices will be changed.

Therefore, in the above-described conventional automatic leveling device, when the horizontal level of the reference plane fluctuates outside the allowable range, in order to return the fluctuated horizontal level to the original state within the allowable range, each supporting device must be supported. It is necessary to return each position to its original state. Since the support position of the restored supporting device fluctuates under the influence of the restoring operation, even in the above-described conventional automatic leveling device, after all, while confirming the overall restored state of each supporting device, , the problem of gradual restoration had not been resolved.

Further, by gradually restoring the support position of each support device, the support position of each support device may be converged. There is also a possibility that the support position of each support device diverges and does not converge.

As described above, in the conventional automatic leveling device, there is a problem that the process of adjusting the support position of each support device to an appropriate position is complicated and takes time. There is also a fear that the support position of the saddle cannot be adjusted to an appropriate position.

The present invention has been made in view of the above circumstances, and provides support in each support device necessary to return the horizontal level of the reference plane of a machine tool bed to the original level when the horizontal level of the reference plane fluctuates. SUMMARY OF THE INVENTION It is an object of the present invention to provide a support position adjustment amount estimation method and a support position adjustment amount estimation device for a support device that can uniquely estimate a position adjustment amount.

In addition, the present invention is capable of estimating the support position of each support device based on the adjustment amount uniquely estimated by the support position adjustment amount estimation method and the support position adjustment amount estimation device, without any trial and error work. The object is to provide a support position adjustment method that can be adjusted.

A first aspect of the present invention for solving the above problems is supported by three or more support devices each having a load detection unit for detecting a support load and a support position adjustment mechanism for adjusting the support position. A method for estimating the amount of adjustment to the current support position of each of the support devices required to level a preset reference plane of the machine tool in a machine tool, comprising:
Reference position data indicating the reference support position of each support device when the support position of each support device when the reference surface of the machine tool is in a horizontal state is defined as a reference support position. , and acquiring reference load data indicating the load detected by the load detection unit,
a position variation amount indicating a variation amount of the support position of each support device when the support position varies from the corresponding reference support position based on the acquired reference position data and reference load data; and the load detection unit. A relational expression between the load data detected by and the load fluctuation amount indicating the amount of fluctuation with respect to the reference load data, when the support position in any one support device selected from the support devices is fixed obtaining the relational expression;
When the load data detected by the load detection unit of each support device varies from the corresponding reference load data, for each support device other than the fixed support device, the adjustment amount for the support position is: A method for estimating a support position adjustment amount of a support device, in which estimation is performed based on the load fluctuation amount detected by all of the support devices and the relational expression.

A second aspect of the present invention is a support position adjustment method for a support device, wherein the adjustment amount estimated by the support position adjustment amount estimation method is used to adjust the support position of the corresponding support device. related to.

A third aspect of the present invention is a machine tool supported by three or more support devices each having a load detection unit for detecting a support load and a support position adjustment mechanism for adjusting the support position, A device for estimating the amount of adjustment to the current support position of each of the support devices required to level a preset reference plane of the machine tool,
The support position of each support device when the reference surface of the machine tool is in a horizontal state is defined as a reference support position, and the load detected by the load detection unit when each support device is in the reference support position is calculated. a reference load data storage unit storing reference load data indicating
A position change amount indicating a change amount of the support position of each of the support devices when the support position is changed from the corresponding reference support position, and a change of the load data detected by the load detection unit with respect to the reference load data. a relational expression storage unit that stores the relational expression between the load fluctuation amount and the load fluctuation amount that indicates the load fluctuation amount, the relational expression when the support position in any one of the support devices selected from the support devices is fixed;
Based on the load data detected by the load detection units of all the support devices, the reference load data of all the support devices stored in the reference load data storage, and the relational expression stored in the relational expression storage unit, The present invention relates to a support position adjustment amount estimating device for a support device, comprising an adjustment amount estimating unit for estimating the adjustment amount related to the support position of each support device other than the fixed support device.

According to the support position adjustment amount estimation method according to the first aspect of the present invention and the support position adjustment amount estimation device according to the third aspect described above, the support position for each support device is determined as follows. An adjustment amount is estimated. First, as a preparatory step, the support position of each support device when the reference plane of the machine tool is in a horizontal state is set as a reference support position, and each support device is set to the reference support position when it is in the reference support position. Reference position data indicating a position and load data detected by the load detection unit are obtained in advance as reference load data. Then, the acquired reference load data is stored in the reference load data storage unit.

Further, based on the acquired reference position data and reference load data, a position change amount indicating a change amount regarding the support position when the support position of each of the support devices is changed from the corresponding reference support position, and the load detection. obtaining in advance a relational expression between a load fluctuation amount indicating a load fluctuation amount detected by a unit and a relational expression when a support position in an arbitrary one of the support devices selected from the support devices is fixed . For example, the support position of a certain support device is gradually changed by a preset (predetermined) amount of change, and from each support load data of the one support device and other support devices at that time, each load Calculate the amount of variation. Then, while gradually changing the supporting position of all the supporting devices by a predetermined amount, the amount of load fluctuation in each supporting device at that time is calculated. A mutual relational expression is acquired based on the load fluctuation amount. Then, from the relational expression obtained in this way, the relational expression when the support position of the arbitrarily selected support device is fixed is derived, and the derived relational expression is stored in the relational expression storage unit.

Next, if the horizontal level of the reference plane of the machine tool falls outside the allowable range, causing the load data detected by the load detectors in one or more support devices to deviate from the reference load data, then all Based on the load data detected by the load detection unit of the support device, the reference load data stored in the reference load data storage unit, and the relational expression stored in the relational expression storage unit, the adjustment amount estimation unit For each support device other than the fixed support device, the amount of adjustment to the current support position required to level the reference plane of the machine tool, that is, to keep the horizontal level of the reference plane within the allowable range are calculated respectively.

Thus, according to the support position adjustment amount estimating method and estimating device according to the present invention, when the horizontal level of the reference plane of the machine tool is out of the allowable range, it is necessary to level the reference plane. , the amount of adjustment in each support device can be uniquely estimated. Then, in the support position adjustment method according to the second aspect of the present invention, by adjusting the support position in each support device based on the adjustment amount uniquely estimated in this way, a trial-and-error operation is performed. The reference plane of the machine tool can be leveled by one adjustment operation without any trouble.

但し、Ａ^＋は、ｉ番目の支持装置Ｓ_ｉがΔＬ_ｉの位置変動量を示したときに生じる支持装置Ｓ_ｉの荷重変動量をΔＲ_ｉとし、そのときに生じるｋ番目の支持装置Ｓ_ｋの荷重変動量をｄＲ_ｉｋとしたときに成立する下記行列Ａに対する一般化逆行列である。ｋは１～ｎの自然数である。

The relational expression in the first to third aspects of the present invention is preferably the following formula, where ΔLt _i is the adjustment amount in the i-th support device S _i and ΔR _i is the load variation amount. represented by 1. However, i is a natural number from 1 to n. Also, j is an arbitrary value from 1 to n, and is a code for indicating the support device S _j to be fixed.

However, A ⁺ is defined as ΔR _i , which is the load variation amount of the support device S _i that occurs when the i-th support device S _i exhibits the position variation amount of ΔL _i , and the k-th support device S _k that occurs at that time. is a generalized inverse matrix of the following matrix A that holds when the load fluctuation amount of is dR _ik . k is a natural number from 1 to n.

A fourth aspect of the present invention is a machine tool supported by four or more support devices each having a load detection unit for detecting a support load and a support position adjustment mechanism for adjusting the support position, A support position adjustment method for adjusting the support position of each of the support devices to level a preset reference plane of the machine tool,
Reference position data indicating the reference support position of each support device when the support position of each support device when the reference surface of the machine tool is in a horizontal state is defined as a reference support position. , and preliminarily acquire reference load data indicating the load detected by the load detection unit,
Based on the acquired reference position data and reference load data, a position change amount indicating a change amount regarding the support position when the support position in each of the support devices is changed from the corresponding reference support position, and the load detection unit Equation 1 above, which is a relational expression between the detected load fluctuation amount and the load fluctuation amount indicating the detected load fluctuation amount when the support position in any one of the support devices selected from the support devices is fixed. is obtained in advance,
When the load data detected by the load detection unit of each of the support devices deviates from the corresponding reference load data, first, the support positions of the three support devices selected from the four or more support devices to level the reference plane of the machine tool, and then for each remaining support device, select the column corresponding to the remaining support device from the generalized inverse matrix A ⁺ contained in Equation 1 above. Estimate the amount of adjustment of the support position of the remaining support devices using the selection matrix extracted and set in 1, and then adjust the support position of the corresponding support device based on the estimated adjustment amount. The present invention relates to a device support position adjustment method.

According to the support position adjusting method according to the fourth aspect, in the same manner as described above, first, as a preparatory step, the support position of each support device when the reference plane of the machine tool is in the horizontal state is adjusted to the reference support position. For each support device, reference position data indicating the reference support position and load data detected by the load detection unit when the support device is in the reference support position are obtained in advance as reference load data.

Further, based on the acquired reference position data and reference load data, a position change amount indicating a change amount regarding the support position when the support position of each of the support devices is changed from the corresponding reference support position, and the load detection. The above formula is a relational expression between the load fluctuation amount indicating the load fluctuation amount detected by the unit and the relational expression when the support position in any one of the support devices selected from the support devices is fixed. 1 is obtained in advance.

Next, if the horizontal level of the reference surface of the machine tool falls outside the allowable range, and as a result, the load data detected by the load detection units of one or more support devices deviate from the reference load data. The supporting positions of the three supporting devices selected from the above supporting devices are adjusted using, for example, a level to make the reference plane of the machine tool horizontal.

Next, for each of the remaining support devices, the columns corresponding to the remaining support devices are selectively extracted from the generalized inverse matrix A ⁺ included in Equation 1 above, and the remaining support devices are selected using a selection matrix that is set. , and then adjust the support position of the corresponding support device based on the estimated adjustment amount.

Thus, according to the support position adjusting method according to the fourth aspect, the task of leveling the reference plane of the machine tool by operating the three support devices that are selected first can be performed by trial and error. However, for the remaining support devices, the adjustment amount can be uniquely estimated, and the support position in each of the remaining support devices can be determined based on the uniquely estimated adjustment amount. By adjusting, it is possible to complete the adjustment work for the rest of the support devices in a single operation without trial-and-error work. Further, according to this support position adjustment method, it is possible to accurately estimate the adjustment amounts for the remaining support devices.

As described above, according to the support position adjustment amount estimation method and estimation device according to the first and third aspects of the present invention, when the horizontal level of the reference plane of the machine tool is outside the allowable range, the reference The amount of adjustment required in each support device to level the surface can be uniquely estimated.

Further, according to the support position adjusting method according to the second aspect of the present invention, the support position of each support device is adjusted based on the adjustment amount uniquely estimated as described above. The reference plane of the machine tool can be leveled with a single adjustment without trial and error.

Further, according to the method of adjusting the support position according to the fourth aspect of the present invention, the task of operating the three support devices selected first to level the reference plane of the machine tool is a matter of trial and error. However, for the remaining support devices, the adjustment amount can be uniquely estimated, and the support position of each of the remaining support devices is adjusted based on the uniquely estimated adjustment amount. By doing so, it is possible to complete the adjustment work for the rest of the support devices in a single operation without trial-and-error work. Further, according to this support position adjustment method, it is possible to accurately estimate the adjustment amounts for the remaining support devices.

1 is a block diagram showing a schematic configuration of a support position adjustment amount estimating device according to an embodiment of the present invention; FIG. 1 is an explanatory diagram showing a schematic configuration of a machine tool supported in this embodiment and showing a state in which the reference plane is not horizontal; FIG. 1 is an explanatory diagram showing a schematic configuration of a machine tool supported in this embodiment and showing a state in which the reference plane is horizontal; FIG. It is an explanatory view showing a model of a machine tool concerning this embodiment. FIG. 5 is an explanatory diagram showing a simplified model of the model shown in FIG. 4; FIG. 6 is an explanatory view showing a supported state when each supporting device is in a reference supporting position in the simplified model shown in FIG. 5; FIG. 6 is an explanatory diagram showing a supported state when one supporting device changes its supporting position in the simplified model shown in FIG. 5; It is the front view which showed the support apparatus of this embodiment. FIG. 9 is a longitudinal sectional view of the support device shown in FIG. 8; It is an explanatory view showing an example of arrangement of a support device in this embodiment. It is an explanatory view for explaining the conformity of superposition theory of supporting loads.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

[First embodiment]
First, a first embodiment of the present invention will be described. The support position adjustment amount estimating device 1 of this example shown in FIG. 1 is a device for estimating the support position adjustment amount for each support device S that supports the machine tool 100 shown in FIG. Each device will be described below.

1. Machine Tool The machine tool 100 of this example includes a bed 101 supported on the ground G by the support device S, a column 102 arranged on the bed 101, and also movable on the bed 101 in the Y-axis direction. A saddle 103 disposed on the column 102, a spindle head 104 disposed on the column 102 so as to be movable in the Z-axis direction, and a spindle head 104 on the saddle 103 so as to be movable in the X-axis direction orthogonal to the Y-axis and Z-axis. It is a vertical machining center having a table 106 and a spindle 105 held by the spindle head 104 so as to be rotatable around a rotation axis parallel to the Z axis. Although a vertical machining center is exemplified as the machine tool 100 in this example, it goes without saying that the machine tool 100 to which the present invention can be applied is not limited to such a vertical machining center.

In this machine tool 100, the main shaft 105 and the table 106 are capable of relative movement in the three orthogonal directions of the X, Y and Z axes. (not shown) is machined by a tool T attached to the spindle 105 . In this example, it is assumed that the bed 101 is supported by eight supporting devices S, but the number of supporting devices S supporting the bed 101 is not limited to eight.

2. Support Device The support device S, as shown in FIGS. A load cell 12 provided in the main body 11 for detecting the load acting on the main body 11, a jack bolt 14 screwed into the screw hole 13a of the holding member 13, a first gear 17 externally fitted to the jack bolt 14, It comprises a second gear 18 meshing with the first gear 17, a rotary encoder 16 connected to the second gear 18, and a support 15 disposed on the main body 11 and holding the rotary encoder 16. .

The main body 11 has a bottomed bottom hole 11a that opens to the bottom surface and a bottomed top hole 11b that opens to the top surface. The load cell 12 is attached to the bottom surface of the lower hole 11a corresponding to the projection 11c.

The holding member 13 is inserted into the upper hole 11b of the main body 11, and its lower surface is in contact with the convex portion 11c. The jack bolt 14 has a hexagonal portion 14b having a regular hexagonal cross section at its upper portion and a screw shaft 14a at its lower portion. A bed 101 of the machine tool 1 is supported on the upper surface of the hexagonal portion 14b. By rotating the jack bolt 14, the jack bolt 14 advances and retreats in the vertical direction, and the support position of the bed 101 changes due to such advance and retreat movement. The first gear 17 is fitted onto and fixed to the screw shaft 14 a of the jack bolt 14 , and the support 15 is fitted onto and fixed to the upper portion of the main body 11 .

Thus, according to the support device S, when the hexagonal portion 14b is operated to rotate the jack bolt 14, the jack bolt 14 advances and retreats in the vertical direction. fluctuates to adjust the support position.

Further, when the jack bolt 14 rotates, the first gear 17 rotates together with the jack bolt 14, the second gear 18 meshing with the first gear 17 rotates, and the amount of rotation of the second gear 18 is detected by the rotary encoder 16. detected by Then, the amount of rotation of the first gear 17, that is, the amount of rotation of the jack bolt 14 can be calculated from the gear ratio between the first gear 17 and the second gear 18 and the amount of rotation of the second gear. The advance/retreat amount of the jack bolt 14 can be calculated from the amount and the lead of the screw shaft 14a. In this example, the gear ratio between the first gear 17 and the second gear 18 is ten.

As described above, according to the support device S, by operating the hexagonal portion 14b to rotate the jack bolt 14, the support position of the bed 101 can be adjusted, and the support position by the jack bolt 14 can be adjusted. That is, the vertical position is detected by the rotary encoder 16 . Further, the supporting load acting on the jack bolt 14 is detected by the load cell 12 .

Thus, according to the support device S of this example, it is possible to adjust the support position, detect the support position, and detect the support load with a single device. A support device S having such a function has not existed in the past.

3. Support Position Adjustment Amount Estimating Apparatus This support position adjustment amount estimating apparatus 1 is an apparatus for estimating each of the current support devices S required to level the reference plane 101a set on the bed 101 of the machine tool 100. A device for estimating an adjustment amount for a support position. Details of the support position adjustment amount estimation device 1 will be described below.

As shown in FIG. 1, the support position adjustment amount estimating device 1 is composed of a calculation unit 2 and an output unit 6. The calculation unit 2 includes a reference load data storage unit 3, a relational expression storage unit 4, and an adjustment amount estimation unit 5. Configured. The calculation unit 2 is composed of a computer including a CPU, RAM, ROM, etc. The adjustment amount estimating unit 5 is realized by a computer program, and executes processing to be described later. Also, the reference load data storage unit 3 and the relational expression storage unit 4 are configured from an appropriate storage medium such as a RAM.

In the reference load data storage unit 3, the support position of each support device _Si when the reference surface 101a of the machine tool 100 is in a horizontal state is set as a reference support position, and each support device _Si is stored as a reference support position. Position data in the height direction calculated based on the angle data output from the rotary encoder 16 when the sensor is at the position is preset as reference position data, and load data detected by the load cell 12 is preset as reference load data. Stored. The machine tool 100 is adjusted so that the reference surface 101a thereof is horizontal by adjusting the support position of each support device _Si using a device capable of measuring the horizontality such as a spirit level. Incidentally, FIG. 2 shows a state in which the reference plane _101a of the machine tool 100 is not horizontal, and FIG. A machine tool 100 is shown.

In the relational expression storage unit 4, there are stored a position variation amount indicating a variation amount regarding each support position _Si when the support position in each support device _Si is varied from the corresponding reference support position, and a corresponding load cell A relational expression between the load data detected by 12 and the load fluctuation amount indicating the fluctuation amount with respect to the reference load data is stored.

This relational expression is obtained as follows. That is, first, the machine tool 100 shown in FIG. 3 is modeled as shown in FIG. 4, and then a model further simplified as shown in FIG. 5 is considered.

但し、ｄＲ_ｉｋは一の支持装置Ｓ_ｉ（ｉ＝１～３）における支持位置が単位長さ変化したときの各支持装置Ｓ_ｋ（ｋ＝１～３）に作用する荷重の変動量である。 Then, as shown in FIG. 6, when the reference plane 101a of the simplified model is in a horizontal state, the reference load (output value from the load cell 12) acting on each of the support devices S ₁ to S ₃ is R _1ref , FIG. 7 shows R _2ref and R _3ref , and L _1ref , L _2ref and L _3ref respectively as the reference support position (position data in the height direction calculated based on the angle data output from the rotary encoder 16). , when the support position of one support device S _i (i=1 to 3) is changed by ΔL _i , each support device S _k (k=1 to 3) including the support device S _i is affected A load change ΔR _i is expressed by the following equation (4).

However, dR _ik is the amount of change in the load acting on each support device S _k (k=1 to 3) when the support position in one support device S _i (i=1 to 3) changes by a unit length. .

When the theory of superposition holds for the amount of variation in the load acting on each support device _Si due to the variation in the support position of each support device _Si , the variation amount ΔR of the load in each support device _{Si i} is represented by the following equation (5).

When the number of supporting devices S _i is expanded from 3 to n, the load fluctuation amount Δ R _i in each supporting device S _i (i is a natural number from 1 to n) is expressed by the following formula (6). be. Note that the above k is also a natural number from 1 to n.

Incidentally, as shown in FIG. 10, after the bed 101 of the machine tool 100 is supported by the eight supporting devices S ₁ to S ₈ so that the reference surface 101a thereof is horizontal, the supporting devices S ₆ and FIG. 11 shows the support loads in the support devices S ₁ to S ₈ detected when the support position of S ₇ is moved upward by about 5 μm from the reference support position by about 5 μm in total by about 50 μm. The support positions of the support devices _S6 and S7 are changed by moving only the support position of the support device S7 upward by about ₅ μm three times, and then moving only the support position of the support device S6 by about ₅ μm _five times. Then, after moving only the support position of the support device S7 upward by about ₅ μm three times, only the support position of the support device S6 is moved upward by about ₅ μm five times, and then , only the support position of the support device S7 is moved upward by about ₅ μm four times.

As shown in FIG. 11, the support load of each of the support devices S ₁ to S ₈ when the support positions of the support devices S ₆ and S ₇ are individually varied is the support device S ₆ and the support device S 6 that move the support position. Not only the supporting load of S ₇ but also the supporting _loads of the supporting devices S ₁ to S ₅ and S ₈ fluctuate. It can be seen that the superposition theory holds true for the amount of variation in the load acting on _Si .

From Equation 6 above, the amount of change ΔL _i in the support position of each support device _Si can be calculated by Equation 7 below.

但し、Ａ^＋は、ｉ番目の支持装置Ｓ_ｉがΔＬ_ｉの位置変動量を示したときに生じる支持装置Ｓ_ｉの荷重変動量をΔＲ_ｉとし、そのときに生じるｋ番目の支持装置Ｓ_ｋの荷重変動量をｄＲ_ｉｋとしたときに成立する下記行列Ａに対する一般化逆行列である。

According to Equation 7, the support positions of all the support devices _Si are _adjusted . From an arbitrary support position in each support device S _i to a support position translated to another support position, a unique solution cannot be obtained for Equation 7 above. Therefore, the adjustment amount ΔLt _{i of each support device S i is} calculated by the following formula (1) in which one support device S _j (j is an arbitrary value from 1 to n) of the support devices S _i is fixed. .

However, A ⁺ is defined as ΔR _i , which is the load variation amount of the support device S _i that occurs when the i-th support device S _i exhibits the position variation amount of ΔL _i , and the k-th support device S _k that occurs at that time. is a generalized inverse matrix of the following matrix A that holds when the load fluctuation amount of is dR _ik .

The adjustment amount estimating unit 5 inputs the load data detected by the load cell 12 of each supporting device _Si , and calculates the input load data and the reference of each supporting device _Si stored in the reference load data storage 3 . From the load data, the supporting load fluctuation amount _{ΔR i} in each supporting device _Si is calculated. Based on this, a process of estimating the adjustment amount ΔLt _i regarding the support position of each support device S _i is performed.

The output unit 6 has a display composed of a liquid crystal panel or the like, and displays the adjustment amount _{ΔLt i regarding} the support position of each support device Si estimated by the adjustment amount estimation unit 5 .

According to the supporting position adjustment amount estimating device 1 of the present embodiment having the above configuration, the horizontal level of the reference surface 101a of the machine tool 100 becomes out of the allowable range due to aging or the like, and as a result, the one or more supporting devices S , when the load data detected by the load cell 12 deviates from the reference load data stored in the reference load data storage unit 3, the adjustment amount estimation unit 5 makes the reference surface 101a of the machine tool 100 horizontal. The adjustment amount ΔLt _i for the current support position of each support device S _i required for this is estimated, and the estimated adjustment amount ΔLt _i is displayed on the output unit 6 .

Specifically, the load data detected by the load cell 12 of each supporting device _Si is input to the adjustment amount estimating unit 5, and the adjustment amount estimating unit 5 detects the input load data of each supporting device _Si and the reference From the reference load data of each supporting device _Si stored in the load data storage 3, the supporting load fluctuation amount ΔR _i in each supporting device _{Si is calculated, and the calculated supporting load fluctuation quantity ΔR i and} the relational expression Based on the relational expression (equation 1 above) stored in the storage unit 4, the adjustment amount ΔLt _i regarding the support position of each support device S _i is estimated.

Then, based on the adjustment amount ΔLt _i estimated by the adjustment amount estimating section 5 and displayed on the output section 6, the operator recognizes each support recognized from the output value of the rotary encoder 16 of each support device _Si . The reference plane 101a of the machine tool 100 can be restored to a horizontal state by operating the jack bolts 14 while confirming the positions and adjusting the corresponding adjustment amount ΔLt _i for each support position. In addition, in the supporting device S of this example, since the adjustment of the supporting position of the supporting device S, the detection of the supporting position, and the detection of the supporting load can be performed by a single device, such adjustment work can be performed very efficiently. can do.

Thus, according to the support position adjustment amount estimating device 1 of the present embodiment, when the horizontal level of the reference surface 101a of the machine tool 100 is out of the allowable range, it is necessary to level the reference surface 101a. , the adjustment amount ΔLt _i in each support device S _i can be uniquely estimated. By adjusting the support position of each support device S _i based on the adjustment amount ΔLt _i uniquely estimated in this way, the work can be adjusted in a single adjustment operation without trial and error work. The reference plane 101a of the machine 100 can be restored to a horizontal state.

[Second embodiment]
A second embodiment of the present invention will be described below. The second embodiment relates to a support position adjusting method for adjusting the support position of the support device _Si when restoring the reference plane 101a of the machine tool 100 to the horizontal state. The method for adjusting the support position according to the second embodiment has an error in the adjustment amount ΔLt _i obtained by the support position adjustment amount estimation device 1 according to the first embodiment and the method for estimating the support position adjustment amount using the same. This is an effective support position adjustment method when is large. The details will be described below. In this method, the machine tool 100 must be supported by _four or more support devices S. _In this example, as shown in FIG. shall be

In the support position adjustment method of this example, the horizontal level of the reference surface 101a of the machine tool 100 becomes out of the allowable range due to aging or the like, and as a result, the load data detected by the load cells 12 of the one or more support devices S becomes When the reference load data is changed from the reference load data stored in the reference load data storage unit 3, first, three support devices S selected from the support devices S ₁ to S ₈ are measured using a measuring instrument such as a spirit level. By adjusting the supporting position, the reference surface 101a of the machine tool 100 is leveled.

Next, for each remaining support device S, a selection matrix is set by selectively extracting columns corresponding to the remaining support device S from the generalized inverse matrix A ⁺ included in the above relational expression (Equation 1). is used to estimate the adjustment amount ΔLt of the support positions of the remaining support devices S.

For example, if three support devices S ₃ , S ₅ and S ₈ are used to level the reference plane 101a of the machine tool 100, the remaining five support devices S ₁ , S ₂ , S ₄ and S ₆ and S7, the adjustment amounts ΔLt ₁ , ΔLt ₂ , ΔLt ₄ , ΔLt ₆ and _{ΔLt 7 are} calculated by the following formula (8), which is a selection matrix.

Then, based on the calculated adjustment amounts ΔLt ₁ , ΔLt ₂ , ΔLt ₄ , ΔLt ₆ and ΔLt ₇ with respect to the support positions of the remaining support devices S ₁ , S ₂ , S ₄ , S ₆ and S ₇ , the operator While confirming each support position recognized from the output value of the rotary encoder 16 for each of the support devices S ₁ , S ₂ , S ₄ , S ₆ and S ₇ , each jack bolt 14 is operated to The position is adjusted by the corresponding adjustment amounts ΔLt ₁ , ΔLt ₂ , ΔLt ₄ , ΔLt ₆ and ΔLt ₇ .

By the above operation, the machine tool 100 can be evenly supported by all the support devices _Si , and the reference plane 101a can be restored to the horizontal state.

As described above, according to the support position adjusting method according to the second embodiment, the operation of operating the three support devices S selected first to level the reference plane 101a of the machine tool 100 includes: Although trial and error elements are involved, the adjustment amount ΔLt can be uniquely estimated for each of the remaining support devices S, and each support device can be adjusted based on the adjustment amount ΔLt uniquely estimated in this way. By adjusting the support position in the device S, the remaining support device S can be adjusted in a single operation without trial-and-error work.

Further, according to this support position adjustment method, the adjustment amount ΔLt for the remaining support devices S can be estimated with high accuracy.

When selecting three support devices S from the support devices _Si , it is possible to select the one that stabilizes the machine tool 100 most based on empirical knowledge. It is preferable to select a combination of three supporting devices S that minimizes the condition number κ(A) represented by . In this way, the error can be minimized objectively and theoretically without depending on subjective factors such as feeling.

Although specific embodiments of the present invention have been described above, the above description of the embodiments is illustrative in all respects and is not restrictive. Modifications and modifications are possible for those skilled in the art. The scope of the invention is indicated by the claims rather than by the embodiments described above. Further, the scope of the present invention includes modifications from the embodiments within the scope of claims and equivalents.

REFERENCE SIGNS LIST 1 support position adjustment amount estimation device 2 calculation unit 3 reference load data storage unit 4 relational expression storage unit 5 adjustment amount estimation unit 6 output unit S support device 11 main body 12 load cell 13 holding member 14 jack bolt 15 support 16 rotary encoder 17 th 1 gear 18 2nd gear 100 machine tool 101 bed 101a reference surface

Claims (1)

In a machine tool supported by four or more support devices each having a load detection unit for detecting a support load and a support position adjustment mechanism for adjusting the support position, the support position of each support device is adjusted. , a support position adjustment method for leveling a preset reference plane of the machine tool,
Reference position data indicating the reference support position of each support device when the support position of each support device when the reference surface of the machine tool is in a horizontal state is defined as a reference support position. , and preliminarily acquire reference load data indicating the load detected by the load detection unit,
Based on the acquired reference position data and reference load data, a position change amount indicating a change amount regarding the support position when the support position in each of the support devices is changed from the corresponding reference support position, and the load detection unit Obtained in advance the following relational expression between the detected load fluctuation amount and the load fluctuation amount when the support position in any one of the support devices selected from the support devices is fixed death,
When the load data detected by the load detection unit of each of the support devices deviates from the corresponding reference load data, first, the support positions of the three support devices selected from the four or more support devices to level the reference plane of the machine tool, and then for each remaining support device, select the column corresponding to the remaining support device from the generalized inverse matrix A ⁺ contained in the following relation: The selection matrix extracted and set in 1 is used to estimate the amount of adjustment of the support positions of the remaining support devices, and then, based on the estimated adjustment amount, the support position of the corresponding support device is adjusted. A support position adjustment method for a support device, characterized by:
The relational expression is expressed by the following equation, where the adjustment amount in the _i -th support device Si is ΔLt _i and the load variation amount is ΔR _i . i is a natural number from 1 to n. Also, j is an arbitrary value from 1 to n, and is a code for indicating the support device S _j to be fixed.

However, A ⁺ is defined as the load variation amount of the support device S _i that occurs when the _i -th support device S _i exhibits the position variation amount of ΔL _i , and the k-th support device S _k that occurs at that time. is a generalized inverse matrix of the following matrix A that holds when the load fluctuation amount of is dR _ik . k is a natural number from 1 to n.

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